Delta CT2000 Series, Руководство пользователя, Страница: 568 / 634

Chapter 16 PLC Function

CT2000 Series
16-127
D2034+100*n =000Ah
Lengt
h:
TX PDO
PDO4 PDO3 PDO2 PDO1
Descriptio
n
Special D Descriptio
n
Special D Descriptio
n
Special D Descriptio
n
Special D
1 Controller
Word
D2008+100*
n Controller
Word
D2008+100*
n Slave
device DO
D2027+10
0*n Controller
Word
D2008+100*
n
2 Target
torque
D2017+100*
n Target D2020+100*
n
D2021+100*
n
Slave
device
AO1
D2031+10
0*n Target
speed
D2012+100*
n
3 Control
method
D2010+100*
n Control
method
D2010+100*
n Slave
device
AO2
D2032+10
0*n
4 Slave device
AO3
D2033+100*
n
PDO4 PDO3 PDO2 PDO1
Definition Torque Position Remote I/O Speed
bit 15 14 ~ 12 11 10 ~ 8 7 6 ~ 4 3 2 ~ 0
Definition 0 0 0 0 0 0 1 2
D2067+100*n =000Ah
Lengt
h:
TX PDO
PDO4 PDO3 PDO2 PDO1
Description Special D Description Special D Description Special D Description Special D
1 Controller
Word
D2009+100
*n Controller
Word
D2009+100
*n Slave device
DI
D2026+100
*n Controller
Word
D2009+100
*n
2 Actual torque D2018+100
*n Actual
position
D2022+100
*n
D2023+100
*n Slave device
AI1
D2028+100
*n Actual
frequency
D2013+100
*n
3 Actual mode D2011+100
*n Actual mode D2011+100
*n Slave device
AI2
D2029+100
*n
4 Slave device
AI3
D2030+100*n
PDO4 PDO3 PDO2 PDO1
Definition Torque Position Remote I/O Speed
bit 15 14 ~ 12 11 10 ~ 8 7 6 ~ 4 3 2 ~ 0
Definition 0 0 0 0 0 0 1 2
Switch the PLC to Run after completing settings. Now wait for successful initialization of CANopen (M1059 =
1 and M1061 = 0), and then initiate CANopen memory mapping (M1034 = 1). The control word and
frequency command will now automatically refresh to the corresponding slave device (D2008+n*100 and
D2012+n*100), and the slave device's status word and currently frequency will also be automatically sent
back to the master station (D2009+n*100 and D2013+n*100). This also illustrates how the master can
handle these tasks through read/write operations in the special D area.
Furthermore, it should be noted that the remote I/O of PDO2 can obtain the slave device's current DI and AI
status, and can also control the slave device's DO and AO status. Nevertheless, after introducing a fully
automatic mapping special D, the CT2000 CANopen master also provides additional information refreshes.
For instance, while in speed mode, acceleration/deceleration settings may have been refreshed. The special
D therefore also stores some seldom-used real-time information, and these commands can be refreshed
using the CANFLS command. The following is the CT2000's current CANopen master data conversion area,
which has a range of D2001+100*n - D2033+100*n, as shown below:
1. The range of n is 0-7
2. ● Indicates PDOTX, ▲ Indicates PDORX; unmarked special D can be refreshed using the
CANFLS command
Special D Description of Function
Default
:
PDO Default:
R/W
1 2 3 4